include "map_builder.lua"
include "trajectory_builder.lua"
options = {
  map_builder = MAP_BUILDER,
  trajectory_builder = TRAJECTORY_BUILDER,
  map_frame = "map",
  tracking_frame = "base_link",
  published_frame = "base_link",
  odom_frame = "odom",
  provide_odom_frame = true,
  publish_frame_projected_to_2d = false,
  use_odometry = false,
  use_nav_sat = false,
  use_landmarks = false,
  num_laser_scans = 1,
  num_multi_echo_laser_scans = 0,
  num_subdivisions_per_laser_scan = 1,
  num_point_clouds = 0,
  lookup_transform_timeout_sec = 0.2,
  submap_publish_period_sec = 0.3,
  pose_publish_period_sec = 5e-3,
  trajectory_publish_period_sec = 30e-3,
  rangefinder_sampling_ratio = 1.,
  odometry_sampling_ratio = 1.,
  fixed_frame_pose_sampling_ratio = 1.,
  imu_sampling_ratio = 1.,
  landmarks_sampling_ratio = 1.,
}
--------------------------------------------
TRAJECTORY_BUILDER_2D.submaps.num_range_data = 45.
TRAJECTORY_BUILDER_2D.submaps.grid_options_2d.resolution = 0.05
TRAJECTORY_BUILDER_2D.max_range = 3.0
TRAJECTORY_BUILDER_2D.use_imu_data = false
TRAJECTORY_BUILDER_2D.voxel_filter_size = 0.1
TRAJECTORY_BUILDER_2D.min_range = 0.10
TRAJECTORY_BUILDER_2D.missing_data_ray_length = 3.
TRAJECTORY_BUILDER_2D.motion_filter.max_angle_radians = math.rad(0.02)
TRAJECTORY_BUILDER_2D.ceres_scan_matcher.occupied_space_weight = 10000.
TRAJECTORY_BUILDER_2D.ceres_scan_matcher.translation_weight = 1.
TRAJECTORY_BUILDER_2D.ceres_scan_matcher.rotation_weight = 0.5
TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = true
TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.linear_search_window = 0.1
TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.angular_search_window = math.rad(20)
--------------------------------------------
MAP_BUILDER.use_trajectory_builder_2d = true
MAP_BUILDER.num_background_threads = 4
-- 关闭后端
POSE_GRAPH.optimize_every_n_nodes = 50
POSE_GRAPH.constraint_builder.sampling_ratio = 0.1
POSE_GRAPH.global_sampling_ratio = 0.001
--------------------------------------------
POSE_GRAPH.constraint_builder.ceres_scan_matcher.translation_weight = 1
POSE_GRAPH.constraint_builder.ceres_scan_matcher.rotation_weight = 0.5
POSE_GRAPH.constraint_builder.ceres_scan_matcher.occupied_space_weight = 10000.
POSE_GRAPH.constraint_builder.min_score = 0.95
POSE_GRAPH.constraint_builder.global_localization_min_score = 0.9
POSE_GRAPH.constraint_builder.log_matches = false
POSE_GRAPH.optimization_problem.log_solver_summary = false
POSE_GRAPH.log_residual_histograms = false
POSE_GRAPH.optimization_problem.ceres_solver_options.max_num_iterations = 5
POSE_GRAPH.optimization_problem.ceres_solver_options.num_threads = 4
POSE_GRAPH.optimization_problem.ceres_solver_options.use_nonmonotonic_steps = true

POSE_GRAPH = {
  constraint_builder = {
    fast_correlative_scan_matcher = {      --fast csm的搜索窗口参数
      linear_search_window = 5,
      angular_search_window = math.rad(5.),
      branch_and_bound_depth = 7, --分支定界的最深节点，深度优先搜索
    },
  },
}

return options
